Ground moving target tracking algorithm for multi-rotor unmanned aerial vehicle

Aiming at the research of tracking ground moving target of multi-rotor unmanned aerial vehicle (UAV), a tracking scheme based on GPS and visual information is designed. The GPS sub-system calculates the relative distance between moving target and UAV according to latitude and longitude. The visual subsystem uses CamShift algorithm to obtain the pixel coordinates of the target and obtains the relative distance through coordinate transformation. When one of the methods fails, the other way can avoid tracking fails. Experimental results show that the method is effective.